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uci-overRID · Dec 20, 2023 · 4e34945 · 4e34945
1 parent ea24a0d
commit 4e34945
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp b/libraries/AP_ODIDScanner/AP_ODIDScanner.cpp
@@ -13,8 +13,7 @@ void AP_ODIDScanner::init() {
 void AP_ODIDScanner::update_recv() {
     mavlink_message_t msg;
     mavlink_status_t status;
-    uint32_t tstart_us = AP_HAL::micros();
-    uint32_t now_ms = AP_HAL::millis();
+    // uint32_t now_ms = AP_HAL::millis();
 
     status.packet_rx_drop_count = 0;
 

diff --git a/libraries/AP_ODIDScanner/AP_ODIDScanner.h b/libraries/AP_ODIDScanner/AP_ODIDScanner.h
@@ -1,6 +1,7 @@
 
 #pragma once
 
+#include <cstdint>
 #define ODID_SCANNER_ENABLED 1
 #ifdef ODID_SCANNER_ENABLED
 
@@ -20,10 +21,11 @@ class AP_ODIDScanner
     CLASS_NO_COPY(AP_ODIDScanner);
     void init();
     void update();
+    void update_recv();
     mavlink_channel_t _chan; // mavlink channel that communicates with the remote id transceiver
-    AP_Int8  _mav_port;
+    uint8_t _mav_port;
     mavlink_uav_found_t found_msg;
-    AP_HaL::UARTDriver* _port;
+    AP_HAL::UARTDriver* _port;
     bool _initialised;
     uint32_t last_send_ms;
     uint32_t last_dev_hb_ms;

diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -511,6 +511,7 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Airspeed,  &vehicle.airspeed,       update,                   10, 100, 41),    // NOTE: the priority number here should be right before Plane's calc_airspeed_errors
 #endif
     SCHED_TASK_CLASS(AP_ODIDScanner,&vehicle.odidscanner, update, 10, 50, 237),
+    SCHED_TASK_CLASS(AP_ODIDScanner,&vehicle.odidscanner, update_recv, 10, 50, 237),
 #if COMPASS_CAL_ENABLED
     SCHED_TASK_CLASS(Compass,      &vehicle.compass,        cal_update,     100, 200, 75),
 #endif